To provide a position and posture estimation device capable of accurately estimating the position and posture of a pallet to be loaded or unloaded with respect to a forklift.SOLUTION: A position and posture estimation device 24 comprises a laser sensor 11 that detects the distance to a pallet 5 by irradiating the pallet 5 with a laser and receiving the reflected laser light, a pallet recognition unit 15 that recognizes the pallet 5 based on the measurement point data of the laser sensor 11, a data extraction unit 16 that extracts the measurement point data corresponding to the pallet 5 from the measurement point data of the laser sensor 11, a plane equation calculation unit 18 that calculates a plane equation of a front surface 5a of the pallet 5 based on the extracted measurement point data, and an estimation calculation unit 20 that estimates the position and posture of the pallet 5 using the plane equation of the front surface 5a of the pallet 5. The estimation calculation unit 20 calculates the yaw angle, pitch angle, and roll angle of the pallet 5 as the posture of the pallet 5.SELECTED DRAWING: Figure 2

    【課題】フォークリフトに対する荷役対象のパレットの位置及び姿勢を高精度に推定することができる位置姿勢推定装置を提供する。【解決手段】位置姿勢推定装置24は、パレット5に向けてレーザを照射し、レーザの反射光を受光することにより、パレット5までの距離を検出するレーザセンサ11と、レーザセンサ11の計測点データに基づいて、パレット5を認識するパレット認識部15と、レーザセンサ11の計測点データのうちパレット5に対応する計測点データを抽出するデータ抽出部16と、抽出された計測点データに基づいて、パレット5の前面5aの平面方程式を算出する平面方程式算出部18と、パレット5の前面5aの平面方程式を用いて、パレット5の位置及び姿勢を推定する推定演算部20とを備え、推定演算部20は、パレット5の姿勢としてパレット5のヨー角、ピッチ角及びロール角を計算する。【選択図】図2


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    Title :

    POSITION AND POSTURE ESTIMATION DEVICE


    Additional title:

    位置姿勢推定装置


    Contributors:

    Publication date :

    2022-09-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen



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